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为了实现 EAST 装置真空室内的内窥多关节机械臂的实时高精度控制,提出了一种逆运动学算法,即建立机械臂多变量的方程组,转化成为矩阵的特征值问题求解。为了验证和满足实际控制的需要,还基于 VC++6.0 开发了 MFC 运动学算法程序。结果表明,该算法能在 ms 级别内得到机械臂的所有运动学逆解。     

On solving the forward kinematics of 3RPR planar parallel manipulator using hybrid metaheuristics

Hybrid metaheuristics have been applied with success in solving many real-world problems. This work introduces hybrid metaheuristics to the field of kinematics problem, in particular, for solving the forward kinematics of the 3RPR parallel manipulator. It implements a combination of genetic algorithms and simulated annealing into two popular hybrid metaheuristic techniques. They are combined as teamwork and relay collaborative hybrid metaheuristics and compared to the performance of genetic algorithms and simulated annealing alone. The results show that the meta-heuristic approaches give robust and high quality solutions. Genetic algorithms and teamwork collaborative metaheuristics showed better performance than simulated annealing and relay collaborative metaheuristics. The given metaheuristic methods obtain all the unique solutions and comparisons with algebraic methods show promising results.     

Fractional supersymmetric su(2) algebras

In this paper, the third root of the Lie algebra su(2) based on the permutation group S₃ is formulated in the Hopf algebra formalism.     

融合神经网络与数值计算的人体逆向运动学求解

人体逆向运动学问题是人体运动合成、人体运动捕获和理解的基本问题.由于人体关节链式系统的复杂性,人体逆向运动学方程往往存在多解或无解的情形.传统的方法通常采用解析或数值迭代方法求解逆向运动学问题,在给定足够多约束的情形下能够得到比较好的解,但无法处理少量约束下生成自然的人体姿态问题.近年来,从大规模数据集中学习统计模型参数的思想被广泛运用,求解人体逆向运动学的机器学习方法中经典工作|混合Gauss逆向运动求解模型(Gaussian mixture model-inverse kinematics,GMM-IK)就提出利用混合Gauss模型建模人体姿态数据分布,并采用期望最大化方法求解参数.随着深度学习技术的发展,本文提出一种自编码神经网络与数值迭代融合的方法,在给定少量约束的情形下依然能够得到自然的人体姿态,相较于GMM-IK方法,本文所提出的方法通过神经网络自动学习姿态分布,省去了模型的假设和特征的设计,且量化实验显示本文方法的关节坐标和角度重建误差相较于GMM-IK模型平均减少了25%和39%.在应用方面,本文方法可处理光学运动捕获数据,也可用于图像视频的人体姿态估计等领域.     

Thermodynamics of finite strain elastic-inelastic deformation

The kinematic relations describing elastic-inelastic deformation that coincide in shape with the well-known Lie representation but are free from the drawback of the latter are extended to the case of thermo-elastic-inelastic deformation with finite strains. The limitations imposed on the kinematics by the principle of objectivity are considered. Relations for the stresses and entropy are derived from the laws of thermodynamics, and a heat-conduction equation is constructed. __________ Translated from Prikladnaya Mekhanika i Tekhnicheskaya Fizika, Vol. 48, No. 4, pp. 144–153, July–August, 2007.     

Search for supersymmetry at LEP-2

An extensive effort to search for a hint of a supersymmetric signal was carried out by the four LEP Collaborations. All LEP data, up to centre-of-mass energy of 209 GeV, was carefully analysed with no observed SUSY signal. In an attempt to further increase the sensitivity of the search, the four groups combined some of their searches, to no avail.     

Semiclassical Method to Schroedinger Equation with Position-Dependent Effective Mass

In this paper, two novel semiclassical methods including the standard and supersymmetric WKB quantization conditions are suggested to discuss the Schroedinger equation with position-dependent effective mass. From a proper coordinate transformation, the formalism of the Schroedinger equation with position-dependent effective mass is mapped into isospectral one with constant mass and therefore for a given mass distribution and physical potential function the bound state energy spectrum can be determined easily by above method associated with a simple integral formula. It is shown that our method can give the analytical results for some exactly-solvable quantum systems.     

Generatrices of rational curves

We investigate the one-parametric set of projective subspaces that is generated by a set of rational curves in projective relation. The main theorem connects the algebraic degree of , the number of degenerate subspaces in and the dimension of the variety of all rational curves that can be used to generate . It generalizes classical results and is related to recent investigations on projective motions with trajectories in proper subspaces of the fixed space. Received 9 May 2001.     

An application of Neustadt's abstract maximum principle to probability kinematics

An important class of problems in philosophy can be formulated as mathematical programming problems in an infinite-dimensional vector space. One such problem is that of probability kinematics: the study of how an individual ought to adjust his degree-of-belief function in response to new information. Much work has recently been done to establish maximum principles for these generalized programming problems (Refs. 3–4). Perhaps, the most general treatment of the problem presented to date is that by Neustadt (Ref. 1). In this paper, the problem of probability kinematics is formulated as a generalized mathematical programming problem and necessary conditions for the optimal revised degree-of-belief function are derived from an abstract maximum principle contained in Neustadt's paper.This work was supported by the National Research Council of Canada.The author is grateful to G. J. Lastman and J. A. Baker of the University of Waterloo for numerous suggestions made for improvement of this paper. The problem of probability kinematics was brought to the author's attention by W. L. Harper of the University of Western Ontario.